/PROG  PNS0057
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "5332607HL_0912";
PROG_SIZE	= 3462;
CREATE		= DATE 15-08-17  TIME 20:12:58;
MODIFIED	= DATE 25-02-25  TIME 21:50:10;
FILE_NAME	= PNS0056;
VERSION		= 0;
LINE_COUNT	= 120;
MEMORY_SIZE	= 3918;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:  !******************************** ;
   2:  !     COSMA METAL FORMING  ;
   3:  !******************************** ;
   4:  !  LINE: CHINA CHANGSHA ;
   5:  !  ROBOT: R12 ;
   6:  !  PROGRAM: PNS0057 ;
   7:  !  PART:53322607 ;
   8:  !YZL15-8-13****HL_0912*********** ;
   9:  !INITIALIZE ;
  10:  MOVE TO HOME    ;
  11:  R[14:CG SENSETIVE]=90    ;
  12:  R[18:PICK TIME BEFORE]=1    ;
  13:  R[19:DROP TIME BEFORE]=.2    ;
  14:   ;
  15:  !------------------------------- ;
  16:  !BEGINNING OF PROGRAM ;
  17:  CALL PARTDROP    ;
  18:  COL GUARD ADJUST R[14] ;
  19:  UTOOL_NUM=1 ;
  20:  UFRAME_NUM=0 ;
  21:  PAYLOAD[3] ;
  22:  R[5:SPEED]=10    ;
  23:  OVERRIDE=R[5:SPEED] ;
  24:  !INITIATE TO PICK-POUNCE ;
  25:J P[1:MIDDLE] 50% CNT100 ACC100    ;
  26:J P[2:PICK POUNCE] 50% CNT100 ACC110    ;
  27:  PAUSE ;
  28:  R[1:CYCLE TOTAL]=0    ;
  29:  TIMER[1]=RESET ;
  30:  TIMER[1]=START ;
  31:   ;

  33:  OVERRIDE=R[5:SPEED] ;
  34:   ;
  35:  TIMER[3]=STOP ;
  36:  TIMER[2]=STOP ;
  37:  R[1:CYCLE TOTAL]=R[1:CYCLE TOTAL]+1    ;
  38:  R[2:LAST CYCLE TIME]=TIMER[2]    ;
  39:  R[3:LAST SPM]=60/R[2:LAST CYCLE TIME]    ;
  40:  R[8:R MOVE TIME]=TIMER[3]    ;
  41:  TIMER[2]=RESET ;
  42:  TIMER[2]=START ;
  43:  TIMER[3]=RESET ;
  44:   ;
  45:  !PROCEED TO PICK ;
  46:  LBL[20] ;
  47:  IF DI[1:P1 PICK ENTRY OK]=ON AND DI[3:FROM RL1 CLEAR]=ON AND DI[8:P1 PICK START]=ON,JMP LBL[25] ;
  48:  IF DI[29:CYCLE STOP]=ON,JMP LBL[90] ;
  49:  JMP LBL[20] ;
  50:   ;
  51:  LBL[25] ;
  52:  R[5:SPEED]=100    ;
  53:  TIMER[3]=START ;
  54:  OVERRIDE=R[5:SPEED] ;
  55:J P[3:PICK APPROACH] 100% CNT60 ACC120    ;
  56:   ;
  57:J P[4:PICK] 100% CNT0 TB R[18]sec,CALL PARTPICK ACC100 BREAK    ;
  58:  PAYLOAD[4] ;
  59:  CALL CHK_PICK    ;
  60:  MONITOR Z_CHECH ;
  61:L P[5:PICK DEPART] 1000mm/sec CNT35 ACC100 TA R[20]sec,DO[5:TO RL1 DROP START]=PULSE,1.0sec    ;
  62:  DO[8:P1 PARTS OUT]=PULSE,1.0sec ;
  63:  LBL[27] ;
  64:  CALL CHECKPICK    ;
  65:  IF DI[9:VACUUM ON L]=OFF OR DI[11:VACUUM ON R]=OFF,JMP LBL[27] ;
  66:L P[6:PICK SNEAK] 2000mm/sec CNT80    ;
  67:J P[7:PICK CLEAR] 100% CNT100 ACC80    ;
  68:   ;
  69:  LBL[30:GOTO DROP POUNCE] ;
  70:J P[8:DROP POUNCE] 100% CNT100 ACC80 BREAK    ;
  71:   ;
  72:  TIMER[3]=STOP ;
  73:  LBL[40:AT DROP POUNCE] ;
  74:  IF DI[2:P2 DROP ENTRY]=ON AND DI[4:FROM R23 CLEAR]=ON AND DI[5:P2 DROP START]=ON,JMP LBL[80] ;
  75:  IF DI[7:PRESS STAMPING COMPLETE]=ON AND DI[2:P2 DROP ENTRY]=ON,JMP LBL[50] ;
  76:  IF DI[18:MOVE TO CLEAR POS]=ON,JMP LBL[60] ;
  77:  JMP LBL[40] ;
  78:   ;
  79:  LBL[50:MOVE DROP SNEAK] ;
  80:  TIMER[3]=START ;
  81:  OVERRIDE=R[5:SPEED] ;
  82:J P[9:DROP SNEAK] 100% CNT100 ACC100 BREAK    ;
  83:  LBL[51:DROP OR C-P-S] ;
  84:  IF DI[2:P2 DROP ENTRY]=ON AND DI[4:FROM R23 CLEAR]=ON AND DI[5:P2 DROP START]=ON,JMP LBL[80] ;
  85:  IF DI[18:MOVE TO CLEAR POS]=ON,JMP LBL[40] ;
  86:  JMP LBL[51] ;
  87:  JMP LBL[50] ;
  88:   ;
  89:  LBL[60:MOVE CLS-PRS-ACC] ;
  90:J P[1:MIDDLE] 50% CNT100 ACC100    ;
  91:  PAUSE ;
  92:  JMP LBL[30] ;
  93:   ;
  94:  LBL[80:DROP ENABLED] ;
  95:  TIMER[3]=START ;
  96:  !PROCEED TO DROP ;
  97:  OVERRIDE=R[5:SPEED] ;
  98:   ;
  99:J P[14] 80% CNT80    ;
 100:L P[10:DROP APPROACH] 2500mm/sec CNT100    ;
 101:  MONITOR END Z_CHECH ;
 102:J P[11:DROP] 100% CNT5 TB R[19]sec,CALL PARTDROP ACC100 BREAK    ;
 103:  DO[6:PART DROP COMPLETE]=PULSE,1.0sec ;
 104:  PAYLOAD[3] ;
 105:  CALL CHK_DROP    ;
 106:   ;
 107:J P[12:DROP DEPART] 100% CNT100 ACC130 TA    .20sec,DO[7:PRESS STAMPING START]=PULSE,1.0sec    ;
 108:J P[13:DROP CLEAR] 100% CNT100 ACC130    ;
 109:  !GOTO PICK POUNCE ;
 110:J P[2:PICK POUNCE] 100% CNT100 ACC110 BREAK    ;
 111:  IF DI[29:CYCLE STOP]=ON,JMP LBL[90] ;
 112:  JMP LBL[10] ;
 113:   ;
 114:  LBL[90:END OF CYCLE] ;
 115:  TIMER[1]=STOP ;
 116:  R[4:TOTAL CYCLE TIME]=TIMER[1]    ;
 117:J P[1:MIDDLE] 50% CNT100    ;
 118:  MOVE TO HOME    ;
 119:   ;
 120:  LBL[100:END OF PROGRAM] ;
/POS
P[1:"MIDDLE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2086.456  mm,	Y =     -.007  mm,	Z =  -930.000  mm,
	W =  -180.000 deg,	P =     -.000 deg,	R =  -180.000 deg,
	E1=   107.700 deg
};
P[2:"PICK POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2072.359  mm,	Y =  1576.000  mm,	Z = -1020.720  mm,
	W =   179.321 deg,	P =     1.370 deg,	R =   150.805 deg,
	E1=   134.033 deg
};
P[3:"PICK APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2544.382  mm,	Y =  3282.514  mm,	Z =  -802.559  mm,
	W =  -178.855 deg,	P =     -.287 deg,	R =    89.701 deg,
	E1=   104.614 deg
};
P[4:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2544.381  mm,	Y =  3282.512  mm,	Z =  -988.221  mm,
	W =  -178.855 deg,	P =     -.287 deg,	R =    89.701 deg,
	E1=   104.614 deg
};
P[5:"PICK DEPART"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2544.451  mm,	Y =  3287.911  mm,	Z =  -757.649  mm,
	W =   174.995 deg,	P =     -.303 deg,	R =    89.734 deg,
	E1=   104.663 deg
};
P[6:"PICK SNEAK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2572.001  mm,	Y =  1909.344  mm,	Z =  -767.518  mm,
	W =   174.999 deg,	P =     -.300 deg,	R =    89.738 deg,
	E1=   104.662 deg
};
P[7:"PICK CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  1886.125  mm,	Y =  1399.893  mm,	Z =  -872.564  mm,
	W =   177.061 deg,	P =     2.952 deg,	R =   131.020 deg,
	E1=   105.955 deg
};
P[8:"DROP POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2069.523  mm,	Y =  -964.481  mm,	Z =  -932.043  mm,
	W =  -177.806 deg,	P =      .836 deg,	R =  -137.186 deg,
	E1=   108.819 deg
};
P[9:"DROP SNEAK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2742.538  mm,	Y = -1529.998  mm,	Z =  -944.174  mm,
	W =  -178.386 deg,	P =     -.730 deg,	R =  -105.274 deg,
	E1=   109.819 deg
};
P[10:"DROP APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2742.691  mm,	Y = -3262.771  mm,	Z =  -924.556  mm,
	W =  -178.386 deg,	P =     -.730 deg,	R =   -87.758 deg,
	E1=   102.834 deg
};
P[11:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2742.688  mm,	Y = -3262.772  mm,	Z = -1174.955  mm,
	W =  -178.386 deg,	P =     -.730 deg,	R =   -87.758 deg,
	E1=   102.834 deg
};
P[12:"DROP DEPART"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2742.691  mm,	Y = -3262.774  mm,	Z =  -987.218  mm,
	W =  -178.386 deg,	P =     -.730 deg,	R =   -87.758 deg,
	E1=   102.834 deg
};
P[13:"DROP CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2164.120  mm,	Y = -1186.078  mm,	Z = -1140.000  mm,
	W =  -179.450 deg,	P =      .729 deg,	R =  -149.152 deg,
	E1=    73.918 deg
};
P[14]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2742.538  mm,	Y = -1529.998  mm,	Z =  -944.174  mm,
	W =  -178.386 deg,	P =     -.730 deg,	R =  -105.274 deg,
	E1=   109.819 deg
};
/END
